2A1-A03 Development of glider type small AUV "SeaBird" : 2nd Report : Development of control board and motion controll

Abstract

The authors are planning to develop an autonomous underwater vehicle (AUV) with a function of underwater glider with independent controllable main wings. This vehicle has 2 thrusters and 2servo motors for changing the direction of the thrusters. This paper reports development of the new control board which has sensors for depth, acceleration, and direction. Consequently, the result of depth control with P controller by the new control board is presented.